#include <PCA9685.h>

Inheritance diagram for aruna::driver::PCA9685:

Collaboration diagram for aruna::driver::PCA9685:

Public Member Functions
	PCA9685 (uint8_t led, I2C_master *i2c_bus, uint8_t i2c_address=default_i2c_address)
	PCA9685 pwm object for every LED. More...

	~PCA9685 ()

uint32_t	get_frequency ()

err_t	set_duty (uint16_t on, uint16_t off)
	Set the on and off timing of the PCA9685 led. More...

uint16_t	get_duty ()

err_t	get_duty (uint16_t &on, uint16_t &off)
	Get the on and off timing of the PCA9685 led. More...

err_t	is_connected ()
	Is the PCA9685 connected to the I²C bus. More...

Public Member Functions inherited from aruna::driver::Pwm
err_t	set_frequency (uint32_t frequency_hz)
	Set frequency of PWM in hertz. More...

uint32_t	get_frequency () const
	Get the frequency used in hertz. More...

err_t	set_duty (float duty_percentage)
	Set the duty cycle on time in percentage. More...

err_t	set_duty (uint16_t duty)
	Set the duty cycle on time (16bit). More...

float	get_duty_per () const
	Get the duty cycle on time in percentage. More...

uint16_t	get_duty () const
	Get the duty cycle on time (16bit) More...

Public Member Functions inherited from aruna::movement::Actuator
	Actuator (axis_mask_t axis=axis_mask_t::NONE)
	Actuator object, used by the movement module for vehicle movement. More...

virtual	~Actuator ()

err_t	set_axis (axis_mask_t new_axis)
	Set the axis that this Actuator is capable in moving in. More...

axis_mask_t	get_axis ()
	get the movement modes that this driver supports. More...

err_t	set (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...

uint16_t	get_speed ()
	Get the current speed of Actuator. More...

Private Types
enum	register_address_pointer { register_address_pointer::MODE1 = 0x0, register_address_pointer::MODE2 = 0x1, register_address_pointer::SUBADR1 = 0x2, register_address_pointer::SUBADR2 = 0x3, register_address_pointer::SUBADR3 = 0x4, register_address_pointer::ALLCALLADR = 0x5, register_address_pointer::LED0_ON_L = 0x6, register_address_pointer::ALL_LED_ON_L = 0xFA, register_address_pointer::PRE_SCALE = 0xFE, register_address_pointer::TESTMODE = 0xFF }
	Pointer to the registers. More...

enum	RESTART { RESTART::DEFAULT = 0x0, RESTART::DISABLED = 0x0, RESTART::ENABLED = 0x80 }

enum	EXTCLK { EXTCLK::DEFAULT = 0x0, EXTCLK::USE_INTERNAL_CLOCK = 0x0, EXTCLK::USE_EXTCLK_PIN_CLOCK = 0x40 }

enum	AI { AI::DEFAULT = 0x0, AI::AUTO_INCREMENT_DISABLED = 0x0, AI::AUTO_INCREMENT_ENABLED = 0x20 }

enum	SLEEP { SLEEP::DEFAULT = 0x10, SLEEP::NORMAL_MODE = 0x0, SLEEP::LOW_POWER = 0x10 }

enum	SUB1 { SUB1::DEFAULT = 0x0, SUB1::NOT_RESPOND_TO_SUBADDRESS1 = 0x0, SUB1::RESPOND_TO_SUBADDRESS1 = 0x8 }

enum	SUB2 { SUB2::DEFAULT = 0x0, SUB2::NOT_RESPOND_TO_SUBADDRESS2 = 0x0, SUB2::RESPOND_TO_SUBADDRESS2 = 0x4 }

enum	SUB3 { SUB3::DEFAULT = 0x0, SUB3::NOT_RESPOND_TO_SUBADDRESS3 = 0x0, SUB3::RESPOND_TO_SUBADDRESS3 = 0x2 }

enum	ALLCALL { ALLCALL::DEFAULT = 0x1, ALLCALL::NOT_RESPOND_TO_LED_ALL = 0x0, ALLCALL::RESPOND_TO_LED_ALL = 0x1 }

enum	INVRT { INVRT::DEFAULT = 0x0, INVRT::OUTPUT_LOGIC_NOT_INVERTED = 0x0, INVRT::OUTPUT_LOGIC_INVERTED = 0x10 }

enum	OCH { OCH::DEFAULT = 0x0, OCH::OUTPUT_CHANGE_ON_STOP_COMMAND = 0x0, OCH::OUTPUT_CHANGE_ON_ACK = 0x8 }

enum	OUTDRV { OUTDRV::DEFAULT = 0x4, OUTDRV::OPEN_DRAIN = 0x0, OUTDRV::TOTEM_POLE = 0x4 }

enum	OUTNE { OUTNE::DEFAULT = 0x0, OUTNE::LEDn_0 = 0x0, OUTNE::LEDn_1_OUTDRV_1 = 0b01, OUTNE::LEDn_HIGH_IMPEDANCE = 0b10 }

Private Member Functions
err_t	_set_frequency (uint32_t frequency_hz) override

err_t	_set_duty (uint16_t duty) override

Private Attributes
const uint8_t	led

const uint8_t	i2c_address

I2C_master *	i2c_bus

Static Private Attributes
static aruna::log::channel_t	log

uint8_t static const	default_i2c_address = 0b1000000

Additional Inherited Members
Public Attributes inherited from aruna::movement::Actuator
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...

Static Protected Member Functions inherited from aruna::movement::Actuator
static double	convert_range (uint16_t input, float range_max=100.f, float range_min=0.f)
	Convert uint16 to a new range. More...

Detailed Description

Definition at line 15 of file PCA9685.h.

Member Enumeration Documentation

◆ AI

enum aruna::driver::PCA9685::AI

strongprivate

Enumerator
DEFAULT
AUTO_INCREMENT_DISABLED
AUTO_INCREMENT_ENABLED

Definition at line 50 of file PCA9685.h.

                           {
                 DEFAULT = 0x0,
                 AUTO_INCREMENT_DISABLED = 0x0,
                 AUTO_INCREMENT_ENABLED = 0x20,
             };

◆ ALLCALL

enum aruna::driver::PCA9685::ALLCALL

strongprivate

Enumerator
DEFAULT
NOT_RESPOND_TO_LED_ALL
RESPOND_TO_LED_ALL

Definition at line 80 of file PCA9685.h.

                                {
                 DEFAULT = 0x1,
                 NOT_RESPOND_TO_LED_ALL = 0x0,
                 RESPOND_TO_LED_ALL = 0x1,
             };

◆ EXTCLK

enum aruna::driver::PCA9685::EXTCLK

strongprivate

Enumerator
DEFAULT
USE_INTERNAL_CLOCK
USE_EXTCLK_PIN_CLOCK

Definition at line 44 of file PCA9685.h.

                               {
                 DEFAULT = 0x0,
                 USE_INTERNAL_CLOCK = 0x0,
                 USE_EXTCLK_PIN_CLOCK = 0x40,
             };

◆ INVRT

enum aruna::driver::PCA9685::INVRT

strongprivate

Enumerator
DEFAULT
OUTPUT_LOGIC_NOT_INVERTED
OUTPUT_LOGIC_INVERTED

Definition at line 87 of file PCA9685.h.

                              {
                 DEFAULT = 0x0,
                 OUTPUT_LOGIC_NOT_INVERTED = 0x0,
                 OUTPUT_LOGIC_INVERTED = 0x10,
             };

◆ OCH

enum aruna::driver::PCA9685::OCH

strongprivate

Enumerator
DEFAULT
OUTPUT_CHANGE_ON_STOP_COMMAND
OUTPUT_CHANGE_ON_ACK

Definition at line 93 of file PCA9685.h.

                            {
                 DEFAULT = 0x0,
                 OUTPUT_CHANGE_ON_STOP_COMMAND = 0x0,
                 OUTPUT_CHANGE_ON_ACK = 0x8,
             };

◆ OUTDRV

enum aruna::driver::PCA9685::OUTDRV

strongprivate

Enumerator
DEFAULT
OPEN_DRAIN
TOTEM_POLE

Definition at line 99 of file PCA9685.h.

                               {
                 DEFAULT = 0x4,
                 OPEN_DRAIN = 0x0,
                 TOTEM_POLE = 0x4,
             };

◆ OUTNE

enum aruna::driver::PCA9685::OUTNE

strongprivate

Enumerator
DEFAULT
LEDn_0
LEDn_1_OUTDRV_1
LEDn_HIGH_IMPEDANCE

Definition at line 105 of file PCA9685.h.

                              {
                 DEFAULT = 0x0,
                 LEDn_0 = 0x0,
                 LEDn_1_OUTDRV_1 = 0b01,
                 LEDn_HIGH_IMPEDANCE = 0b10,
             };

◆ register_address_pointer

enum aruna::driver::PCA9685::register_address_pointer

strongprivate

Pointer to the registers.

Enumerator
MODE1
MODE2
SUBADR1
SUBADR2
SUBADR3
ALLCALLADR
LED0_ON_L
ALL_LED_ON_L
PRE_SCALE
TESTMODE

Definition at line 22 of file PCA9685.h.

                                                 {
                 MODE1 = 0x0,
                 MODE2 = 0x1,
                 SUBADR1 = 0x2,
                 SUBADR2 = 0x3,
                 SUBADR3 = 0x4,
                 ALLCALLADR = 0x5,
                 LED0_ON_L = 0x6,
 
                 ALL_LED_ON_L = 0xFA,
                 PRE_SCALE = 0xFE,
                 TESTMODE = 0xFF,
 
             };

◆ RESTART

enum aruna::driver::PCA9685::RESTART

strongprivate

Enumerator
DEFAULT
DISABLED
ENABLED

Definition at line 38 of file PCA9685.h.

                                {
                 DEFAULT = 0x0,
                 DISABLED = 0x0,
                 ENABLED = 0x80,
             };

◆ SLEEP

enum aruna::driver::PCA9685::SLEEP

strongprivate

Enumerator
DEFAULT
NORMAL_MODE
LOW_POWER

Definition at line 56 of file PCA9685.h.

                              {
                 DEFAULT = 0x10,
                 NORMAL_MODE = 0x0,
                 LOW_POWER = 0x10,
             };

◆ SUB1

enum aruna::driver::PCA9685::SUB1

strongprivate

Enumerator
DEFAULT
NOT_RESPOND_TO_SUBADDRESS1
RESPOND_TO_SUBADDRESS1

Definition at line 62 of file PCA9685.h.

                             {
                 DEFAULT = 0x0,
                 NOT_RESPOND_TO_SUBADDRESS1 = 0x0,
                 RESPOND_TO_SUBADDRESS1 = 0x8,
             };

◆ SUB2

enum aruna::driver::PCA9685::SUB2

strongprivate

Enumerator
DEFAULT
NOT_RESPOND_TO_SUBADDRESS2
RESPOND_TO_SUBADDRESS2

Definition at line 68 of file PCA9685.h.

                             {
                 DEFAULT = 0x0,
                 NOT_RESPOND_TO_SUBADDRESS2 = 0x0,
                 RESPOND_TO_SUBADDRESS2 = 0x4,
             };

◆ SUB3

enum aruna::driver::PCA9685::SUB3

strongprivate

Enumerator
DEFAULT
NOT_RESPOND_TO_SUBADDRESS3
RESPOND_TO_SUBADDRESS3

Definition at line 74 of file PCA9685.h.

                             {
                 DEFAULT = 0x0,
                 NOT_RESPOND_TO_SUBADDRESS3 = 0x0,
                 RESPOND_TO_SUBADDRESS3 = 0x2,
             };

Constructor & Destructor Documentation

◆ PCA9685()

PCA9685::PCA9685	(	uint8_t	led,
		I2C_master *	i2c_bus,
		uint8_t	i2c_address = `default_i2c_address`
	)

PCA9685 pwm object for every LED.

Parameters

led	0-15 led number
i2c_address	I²C address of the IC
i2c_bus	Bus to use for I²C communication.

Definition at line 13 of file PCA9685.cpp.

                                                                       : led(led), i2c_address(i2c_address) {
     this->i2c_bus = i2c_bus;
 
 //    read device
     err_t i2c_err;
     uint8_t mode1;
     i2c_bus->lock(i2c_address);
     i2c_err = i2c_bus->read(i2c_address, static_cast<uint8_t>(register_address_pointer::MODE1), &mode1, 1);
     if (i2c_err != err_t::OK)
         log.error("Error while reading MODE1 0x%X: %s", i2c_address, err_to_char.at(i2c_err));
 
 //   check to see if device is powered on
     if (mode1 & (uint8_t) SLEEP::LOW_POWER) {
         i2c_err = i2c_bus->write(i2c_address, (uint8_t) register_address_pointer::MODE1,
                                  reinterpret_cast<uint8_t *>(mode1 | (uint8_t) SLEEP::NORMAL_MODE), 1);
         if (i2c_err != err_t::OK)
             log.error("Error while writing MODE1 0x%X: %s", i2c_address, err_to_char.at(i2c_err));
     }
     i2c_bus->unlock(i2c_address);
 }

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◆ ~PCA9685()

PCA9685::~PCA9685 ( )

Definition at line 109 of file PCA9685.cpp.

                   {
     Pwm::set_duty((uint16_t)0);
 //    TODO put PCA9685 to sleep if I'm the last one connected to it.
 }

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Member Function Documentation

◆ _set_duty()

err_t PCA9685::_set_duty ( uint16_t duty )

overrideprivatevirtual

Implements aruna::driver::Pwm.

Definition at line 71 of file PCA9685.cpp.

                                       {
 
     duty = round(duty / 65535 * 4095);
     uint16_t on = 0;
     uint16_t off = duty;
     return set_duty(on, off);
 }

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◆ _set_frequency()

err_t PCA9685::_set_frequency ( uint32_t frequency_hz )

overrideprivatevirtual

Implements aruna::driver::Pwm.

Definition at line 34 of file PCA9685.cpp.

                                                    {
     if (frequency_hz > 1526)
         return err_t::BUFFER_OVERFLOW;
     if (frequency_hz < 25)
         return err_t::BUFFER_UNDERFLOW;
     err_t i2c_err;
     uint8_t mode1;
 //    only works if using internal clock
     uint8_t prescale = round(25000000 / (4096 * frequency_hz)) - 1;
     i2c_bus->lock(i2c_address);
     i2c_err = i2c_bus->read(i2c_address, static_cast<uint8_t>(register_address_pointer::MODE1), &mode1, 1);
     if (i2c_err != err_t::OK)
         log.error("Error while reading MODE1 0x%X: %s", i2c_address, err_to_char.at(i2c_err));
     i2c_err = i2c_bus->write(i2c_address, (uint8_t) register_address_pointer::MODE1,
                              reinterpret_cast<uint8_t *>(mode1 ^ (uint8_t) SLEEP::NORMAL_MODE), 1);
     if (i2c_err != err_t::OK)
         log.error("Error while writing MODE1 0x%X: %s", i2c_address, err_to_char.at(i2c_err));
     i2c_err = i2c_bus->write(i2c_address, (uint8_t) register_address_pointer::PRE_SCALE, &prescale, 1);
     if (i2c_err != err_t::OK)
         log.error("Error while writing PRE_SCALE 0x%X: %s", i2c_address, err_to_char.at(i2c_err));
     i2c_err = i2c_bus->write(i2c_address, (uint8_t) register_address_pointer::MODE1, &mode1, 1);
     i2c_bus->unlock(i2c_address);
 
     return i2c_err;
 }

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◆ get_duty() [1/2]

uint16_t PCA9685::get_duty ( )

Definition at line 89 of file PCA9685.cpp.

                            {
     uint16_t on, off;
     err_t err = get_duty(on, off);
     if (err != err_t::OK)
         log.error("Error while getting duty cycle 0x%X: %s", i2c_address, err_to_char.at(err));
 //    TODO test conversion
     uint16_t duty = round(off / 4095 * 65535);
     return duty;
 }

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◆ get_duty() [2/2]

err_t PCA9685::get_duty	(	uint16_t &	on,
		uint16_t &	off
	)

Get the on and off timing of the PCA9685 led.

Parameters

on	12 bit time to set signal to high
off	12 bit time to set signal to low

Returns: I²C bus error

Definition at line 99 of file PCA9685.cpp.

                                                    {
     uint8_t reg = (uint8_t) register_address_pointer::LED0_ON_L + 4 * led;
     uint8_t buff[4];
     err_t i2c_err = i2c_bus->read(i2c_address, reg, buff, 4);
 //    todo test this conversion
     on = buff[0] | buff[1] >> 8;
     off = buff[2] | buff[3] >> 8;
     return i2c_err;
 }

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◆ get_frequency()

uint32_t PCA9685::get_frequency ( )

Definition at line 60 of file PCA9685.cpp.

                                 {
     uint8_t prescale = 0;
     err_t i2c_err;
     uint32_t freq = 0;
     i2c_err = i2c_bus->read(i2c_address, (uint8_t) register_address_pointer::PRE_SCALE, &prescale, 1);
     if (i2c_err != err_t::OK)
         log.error("Error while reading PRE_SCALE 0x%X: %s", i2c_address, err_to_char.at(i2c_err));
     freq = round(25000000 / (4096 * prescale)) - 1;
     return freq;
 }

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◆ is_connected()

err_t PCA9685::is_connected ( )

Is the PCA9685 connected to the I²C bus.

Note: only checks if a device with said I²C address returns an ACK.

Returns

I²C error code.

err_t::OK success
err_t::NO_RESPONSE slave doesn't ACK the transfer
err_t::INVALID_PARAMETERS parameter error
err_t::HARDWARE_FAILURE I2C driver malfunction

Definition at line 114 of file PCA9685.cpp.

                             {
     uint8_t fake_buffer;
     return i2c_bus->read(i2c_address, 0, fake_buffer);
 }

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◆ set_duty()

err_t PCA9685::set_duty	(	uint16_t	on,
		uint16_t	off
	)

Set the on and off timing of the PCA9685 led.

Parameters

on	12 bit time to set signal to high
off	12 bit time to set signal to low

Returns: I²C bus error

Definition at line 79 of file PCA9685.cpp.

                                                  {
     uint8_t reg = (uint8_t) register_address_pointer::LED0_ON_L + 4 * led;
     uint8_t data[4];
     data[0] = on;
     data[1] = on >> 8;
     data[2] = off;
     data[3] = off >> 8;
     return i2c_bus->write(i2c_address, reg, data, 4);
 }

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Member Data Documentation

◆ default_i2c_address

uint8_t static const aruna::driver::PCA9685::default_i2c_address = 0b1000000

staticprivate

Definition at line 112 of file PCA9685.h.

◆ i2c_address

const uint8_t aruna::driver::PCA9685::i2c_address

private

Definition at line 113 of file PCA9685.h.

◆ i2c_bus

I2C_master* aruna::driver::PCA9685::i2c_bus

private

Definition at line 114 of file PCA9685.h.

◆ led

const uint8_t aruna::driver::PCA9685::led

private

Definition at line 113 of file PCA9685.h.

◆ log

log::channel_t PCA9685::log

staticprivate

Definition at line 18 of file PCA9685.h.

The documentation for this class was generated from the following files:

include/aruna/driver/PCA9685.h
src/driver/PCA9685.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ AI

◆ ALLCALL

◆ EXTCLK

◆ INVRT

◆ OCH

◆ OUTDRV

◆ OUTNE

◆ register_address_pointer

◆ RESTART

◆ SLEEP

◆ SUB1

◆ SUB2

◆ SUB3

Constructor & Destructor Documentation

◆ PCA9685()

◆ ~PCA9685()

Member Function Documentation

◆ _set_duty()

◆ _set_frequency()

◆ get_duty() [1/2]

◆ get_duty() [2/2]

◆ get_frequency()

◆ is_connected()

◆ set_duty()

Member Data Documentation

◆ default_i2c_address

◆ i2c_address

◆ i2c_bus

◆ led

◆ log